public KinectTester()
{
InitializeComponent();
sensor = new SmartKinectSensor();
renderCanvas = new RenderCanvas(TimeSpan.FromSeconds(10));
sensor.EnableSkeletonRenderingSensor();
renderCanvas.ImageRendered += DisplayRenderedImage;
capturedLabel.Visible = false;
jointController = new JointController();
gestureController = new GestureController();
skeletonRender = new SkeletonRenderer(sensor.Sensor);
sensor.SkeletonController.AddFunction(jointController);
sensor.SkeletonController.AddFunction(gestureController);
sensor.SkeletonController.AddFunction(skeletonRender);
skeletonRender.SkeletonRendered += renderCanvas.SkeletonFrameCaptured;
gestureController.GestureCaptured += GestureCaptured;
jointController.JointTrackingCaptured += JointTrackingCaptured;
ArduinoSerialPort serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
bodyTracker = new KinectBodyTracker(sensor, serialPort);
GestureBuilderForm test = new GestureBuilderForm(sensor);
test.Show();
// InitializeArduino();
}
private void ArduinoSetup()
{
ledON = false;
toggleLED.BackColor = Color.Red;
serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
cwAnalogPinMapping = new PinMapping(11);
ccwAnalogPinMapping = new PinMapping(10);
pinMapping = new PinMapping(13);
eStop = new PinMapping(8);
serialPort.ComponentMappings.Add(cwAnalogPinMapping);
serialPort.ComponentMappings.Add(ccwAnalogPinMapping);
serialPort.ComponentMappings.Add(pinMapping);
serialPort.ComponentMappings.Add(eStop);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
pinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
pinMapping.FeedbackEvent += new SkynetUtilities.FeedbackRecievedEventHandler(ResponsePackageRecieved);
this.replyPackageTextBox.Text = "0";
eStop.SetPin(true);
stopped = false;
}
private void InitSerialPort(Config config)
{
_arduinoSerialPort = new ArduinoSerialPort();
_arduinoSerialPort.DataArrived += ArduinoSerialPort_DataArrived;
try
{
_arduinoSerialPort.Open(config.SerialPort, config.BaudRate);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
public void InitializeArduino()
{
serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
cwAnalogPinMapping = new PinMapping(11);
ccwAnalogPinMapping = new PinMapping(10);
eStop = new PinMapping(8);
serialPort.ComponentMappings.Add(cwAnalogPinMapping);
serialPort.ComponentMappings.Add(ccwAnalogPinMapping);
serialPort.ComponentMappings.Add(eStop);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPin(true);
}
private void serialPortConnect()
{
int?baudRade = cbBaudRates.SelectedValue as int?;
var port = cbComPorts.SelectedValue.ToString();
if (baudRade == null)
{
return;
}
if (string.IsNullOrWhiteSpace(port))
{
return;
}
arduinoSerialPort.Open(port, (int)baudRade);
arduinoSerialPort.DataArrived += ArduinoSerialPort_DataArrived;
btConnect.Text = "Disconnect";
btSend.Enabled = true;
txSendText.Enabled = true;
}
public void OpenPort(string port, int baudRate)
{
_arduinoSerialPort.Open(port, baudRate);
_arduinoSerialPort.LineArrived += DataArrived;
IsConnected = true;
}
private void ConnectButton_Click(object sender, EventArgs e)
{
if (SDMC1BaudRate.SelectedItem == "" || SDMC1Port.SelectedItem == "" || ArduinoPort.SelectedItem == "" || ArduinoBaudRate.SelectedItem == "")
{
MessageText.Text = "Specify ports and baudrates";
}
else
{
try
{
//Connect to SDMC1
SDMC1SerialPort.PortName = SDMC1Port.SelectedItem.ToString();
SDMC1SerialPort.BaudRate = Convert.ToInt32(SDMC1BaudRate.SelectedItem.ToString());
SDMC1SerialPort.ReadTimeout = timeoutMS;
SDMC1SerialPort.DataBits = 8;
SDMC1SerialPort.StopBits = StopBits.One;
SDMC1SerialPort.Parity = Parity.None;
SDMC1SerialPort.Open();
//Connect to Arduino
ArduinoSerialPort.PortName = ArduinoPort.SelectedItem.ToString();
ArduinoSerialPort.BaudRate = Convert.ToInt32(ArduinoBaudRate.SelectedItem.ToString());
ArduinoSerialPort.ReadTimeout = timeoutMS;
ArduinoSerialPort.Open();
//Change connection interaction
DisconnectButton.Enabled = true;
SDMC1Port.Enabled = false;
SDMC1BaudRate.Enabled = false;
ArduinoPort.Enabled = false;
ArduinoBaudRate.Enabled = false;
ConnectButton.Enabled = false;
//Change controller interaction
ArduinoSendText.Enabled = true;
ArduinoSendButton.Enabled = true;
SDMC1SendText.Enabled = true;
SDMC1SendButton.Enabled = true;
HomeButton.Enabled = true;
}
catch (Exception error)
{
MessageText.Text = error.Message;
//if something goes wrong, close the ports that may be open
SDMC1SerialPort.Close();
ArduinoSerialPort.Close();
//Change connection interaction
SDMC1Port.Enabled = true;
SDMC1BaudRate.Enabled = true;
ArduinoPort.Enabled = true;
ArduinoBaudRate.Enabled = true;
ConnectButton.Enabled = true;
DisconnectButton.Enabled = false;
//Change controller interaction
ArduinoSendText.Enabled = false;
ArduinoSendButton.Enabled = false;
SDMC1SendText.Enabled = false;
SDMC1SendButton.Enabled = false;
HomeButton.Enabled = false;
ScanButton.Enabled = false;
}
}
}
